U.S. patent application number 15/590784 was filed with the patent office on 2018-11-15 for optimized directional drilling using mwd data.
The applicant listed for this patent is Nabors Drilling Technologies USA, Inc.. Invention is credited to Bosko GAJIC, Mahmoud HADI, Matthew WHITE.
Application Number | 20180328164 15/590784 |
Document ID | / |
Family ID | 64096565 |
Filed Date | 2018-11-15 |
United States Patent
Application |
20180328164 |
Kind Code |
A1 |
GAJIC; Bosko ; et
al. |
November 15, 2018 |
OPTIMIZED DIRECTIONAL DRILLING USING MWD DATA
Abstract
Systems and methods for directional drilling are described. The
system includes one or more controllers and is configured to
receive data from a plurality of downhole sensors, provide
operational control signals, determine a relationship between
different parameters, receive current data including at least one
of current differential pressure (DP), weight-on-bit (WOB), or
rotations per minute (RPM) of a drill bit, and estimate at least
one of current toolface orientation or current shock and vibration
of the drill bit using the current data and the determined
relationship. The system is further configured to provide
operational control signals that may adjust the current toolface
orientation to a desired toolface orientation. Current WOB and/or
current RPM are adjusted to minimize current shock and vibration of
a portion of a bottom hole assembly (BHA).
Inventors: |
GAJIC; Bosko; (Kingwood,
TX) ; WHITE; Matthew; (Spring, TX) ; HADI;
Mahmoud; (Richmond, TX) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nabors Drilling Technologies USA, Inc. |
Houston |
TX |
US |
|
|
Family ID: |
64096565 |
Appl. No.: |
15/590784 |
Filed: |
May 9, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E21B 7/04 20130101; E21B
47/024 20130101; E21B 47/0228 20200501; E21B 17/028 20130101; G01V
11/005 20130101; E21B 47/13 20200501; E21B 17/00 20130101; E21B
7/068 20130101 |
International
Class: |
E21B 47/022 20060101
E21B047/022; E21B 47/024 20060101 E21B047/024; G01V 11/00 20060101
G01V011/00; E21B 7/06 20060101 E21B007/06; E21B 17/02 20060101
E21B017/02 |
Claims
1. A system comprising: a bottom hole assembly (BHA) controller
associated with one or more downhole sensors and configured to:
receive data from the one or more downhole sensors, determine a
relationship from the data from the one or more downhole sensors,
and communicate the relationship to a surface controller; and a
surface controller configured to: receive the relationship
communicated from the BHA controller, receive data from one or more
surface sensors, and provide control signals to a drilling system
responsive to the relationship and the data received from the one
or more surface sensors.
2. The system of claim 1, wherein the surface controller is further
configured to: estimate at least one of current toolface
orientation, current shock and vibration of the drill bit, or rate
of penetration using at least the data from the one or more surface
sensors and the relationship.
3. The system of claim 1, wherein the relationship is between at
least one of a: (i) measured differential pressure (DP) and
measured toolface orientation; (ii) measured weight-on-bit (WOB)
and measured shock and vibration of a drill bit; (iii) measured
rotations per minute (RPM) of a drill bit and measured shock and
vibration, wherein the relationship is determine for an interval of
time; or (iv) measured WOB and measured rate of penetration.
4. The systems of claim 1, wherein the control signal adjusts at
least one of WOB, current RPM, rate of penetration, quill position,
or toolface position, or any combination thereof.
5. The system of claim 1, wherein the surface controller is further
configured to receive data from the one or more downhole sensors
and wherein the control signals are provided responsive to the
relationship and the data received from the one or more surface
sensors and the one or more downhole sensors.
6. The system of claim 1, wherein the data from the one or more
surface sensors is directed to at least one of current DP, WOB, or
RPM.
7. The system of claim 1, further comprising a BHA comprising the
BHA controller and at least one of the downhole sensors.
8. The system of claim 1, further comprising: a top drive system
configured to: receive the control signals from the surface
controller, and based on the control signals, adjust at least one
of WOB, current RPM, rate of penetration, quill position, or
toolface position, or any combination thereof.
9. The system of claim 2, further comprising a drawworks in
operable association with the top drive system, wherein the
drawworks and top drive system are configured to: receive the
control signals from the surface controller, and based on the
operational control signals, adjust the current toolface
orientation to a desired toolface orientation.
10. The system of claim 1, wherein the surface controller is
further configured to provide or update an algorithm that controls
operation of at least one a BHA or a top drive system responsive to
receiving the relationship and the data from the one or more
surface sensors.
11. The system of claim 1, wherein determining the relationship
comprises at least one of: (i) fitting measured DP data to measured
toolface orientation data on a curve, (ii) fitting measured WOB
data to shock and vibration data on a curve, or (iii) fitting
measured RPM data to measured shock and vibration data on a
curve.
12. The system of claim 1, wherein the relationship is expressed as
a mathematical function or equation.
13. The system of claim 12, wherein the relationship is determined
by inputting a current DP, WOB, or RPM, or any combination thereof,
into the mathematical function or equation to output the current
toolface orientation, current shock and vibration of the drill bit,
or rate of penetration, or any combination thereof.
14. A method of directional drilling comprising: receiving, by a
bottom hole assembly (BHA) controller, data from the one or more
downhole sensors; determining, by the BHA controller, a
relationship from the data from the one or more downhole sensors;
communicating, by the BHA controller, the relationship to a surface
controller; receiving, by the surface controller, the relationship
communicated from the BHA controller; receiving, by the surface
controller, data from one or more surface sensors; and providing,
by the surface controller, control signals to a drilling system
responsive to the relationship and the data received from the one
or more surface sensors.
15. The method of claim 14, further comprising: estimating, by the
surface controller, at least one of current toolface orientation,
current shock and vibration of the drill bit, or rate of
penetration using at least the data from the one or more surface
sensors and the relationship.
16. The method of claim 14, wherein the relationship is between at
least one of a: (i) measured differential pressure (DP) and
measured toolface orientation; (ii) measured weight-on-bit (WOB)
and measured shock and vibration of a drill bit; (iii) measured
rotations per minute (RPM) of a drill bit and measured shock and
vibration, wherein the relationship is determine for an interval of
time; or (iv) measured WOB and measured rate of penetration.
17. The method of claim 14, wherein the control signal adjusts at
least one of WOB, current RPM, rate of penetration, quill position,
or toolface position, or any combination thereof.
18. The method of claim 14, wherein the data from the one or more
surface sensors is directed to at least one of current DP, WOB, or
RPM.
19. The method of claim 14, wherein determining the relationship
comprises at least one of: (i) fitting measured DP data to measured
toolface orientation data on a curve, (ii) fitting measured WOB
data to shock and vibration data on a curve, or (iii) fitting
measured RPM data to measured shock and vibration data on a
curve.
20. The method of claim 14, wherein the relationship is expressed
as a mathematical function or equation, and wherein the
relationship is determined by inputting_a current DP, WOB, or RPM,
or any combination thereof, into the mathematical function or
equation to output the current toolface orientation, current shock
and vibration of the drill bit, or rate of penetration, or any
combination thereof.
21. A non-transitory machine-readable medium having stored thereon
machine-readable instructions executable to cause a machine to
perform operations comprising: receiving data from the one or more
downhole sensors; determining a relationship from the data from the
one or more downhole sensors; and communicating the relationship to
a surface controller such that the surface controller can determine
control signals to a drilling system responsive to the relationship
and the data received from one or more surface sensors.
Description
TECHNICAL FIELD
[0001] The present disclosure is directed to systems, devices, and
methods for directional drilling. More specifically, the present
disclosure is directed to systems, devices, and methods for
drilling in general and more specifically directional drilling
using data from a measurement-while-drilling (MWD) tool.
BACKGROUND OF THE DISCLOSURE
[0002] Subterranean "sliding" drilling operation typically involves
rotating a drill bit on a downhole motor at the remote end of a
drill pipe string during a drilling operation. Drilling fluid
forced through the drill pipe and downhole motor rotates the drill
bit. The assembly is directed or "steered" from a vertical drill
path in any number of directions, allowing the operator to guide
the wellbore to desired underground locations. For example, to
recover an underground hydrocarbon deposit, the operator may drill
a vertical well to a point above the reservoir and then steer the
wellbore to drill a deflected or "directional" well that penetrates
the deposit. The well may pass horizontally through the deposit.
Friction between the drill string and the wellbore generally
increases as a function of the horizontal component of the
wellbore, and slows drilling by reducing the force that pushes the
bit into new formations.
[0003] Such directional drilling requires accurate orientation of a
bent segment of the downhole motor that drives the bit. Rotating
the drill string and adjusting the angular position of the pipe at
the surface using a top drive or rotary table change the
orientation of the bent segment called the toolface. To effectively
steer the assembly, the operator must first determine the current
toolface orientation, such as via measurement-while-drilling (MWD)
apparatus. Thereafter, if the drilling direction needs adjustment,
the operator must rotate the drill string to change the toolface
orientation.
[0004] As various drilling parameters, such as weight on bit, flow
rate, amount of bite the bit is making in the formation, rate of
penetration, and/or other parameters change, the toolface position
will be changing as well. It is desirable to accurately control the
toolface position and keep the toolface in one position to allow
for overall better steering control and a smoother wellbore.
Traditionally, toolface feedback has been done manually by waiting
for the MWD apparatus to communication (e.g., telemeter) the
current toolface position to surface. The directional driller would
then make any corresponding changes to the quill position to offset
the error in the toolface as compared to the desired toolface. Such
a control feedback loop is very slow and allows for a large amount
of toolface position error while drilling, resulting in less than
desirable steering control and wellbore consistency, ultimately
resulting in longer "sliding" times and a reduced rate of
penetration (ROP), and thus increasing the cost of the drilling
process.
[0005] Automating toolface control while sliding can utilize a
differential pressure (DP) measurement at the surface of the
drilling rig to estimate toolface changes more quickly than can be
telemetered by a downhole MWD tool. This allows for faster feedback
to the control loop that can improve algorithms that control
toolface orientation.
[0006] One problem with this method is that the relationship
between DP and toolface changes depending on a variety of factors,
such as depth and geometry of the drill string and formation, motor
performance, bit performance, flow rate, and weight on bit. In
order to estimate the expected change in toolface position relative
to a change in differential pressure, an experienced directional
driller is typically required to create a table to define this
relationship, and the performance of the system is limited by the
accuracy of the directional driller's estimation(s).
[0007] Thus, drilling a well typically involves a substantial
amount of human decision making and/or analysis of relationships of
various parameters during the drilling process. While a directional
driller may have drilled other boreholes in the same region and so
may have some similar experience, it is impossible for a human to
mentally track all the possible inputs and factor those inputs into
a decision. This can result in expensive mistakes, as errors in
drilling can increase drilling costs and/or time.
[0008] Reorienting the toolface in a wellbore can be very complex,
labor intensive, and often inaccurate, and thus, automated methods
and systems are desired. This becomes increasingly true as wells
are drilled faster and thus ROP levels increase due to greater
added power.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The present disclosure is best understood from the following
detailed description when read with the accompanying figures. It is
emphasized that, in accordance with the standard practice in the
industry, various features are not drawn to scale. In fact, the
dimensions of the various features may be arbitrarily increased or
reduced for clarity of discussion.
[0010] FIG. 1 is a diagram of an apparatus shown as an exemplary
drilling rig according to one or more aspects of the present
disclosure;
[0011] FIG. 2 is a block diagram of an apparatus shown as an
exemplary control system according to one or more aspects of the
present disclosure;
[0012] FIG. 3 is an exemplary flow chart showing an exemplary
process for directional drilling according to one or more aspects
of the present disclosure; and
[0013] FIG. 4 is a diagram of an exemplary system for implementing
one or more embodiments of the described devices, systems, or
methods according to one or more aspects of the present
disclosure.
DETAILED DESCRIPTION
[0014] It is to be understood that the following disclosure
provides many different embodiments, or examples, for implementing
different features of various embodiments. Specific examples of
components and arrangements are described below to simplify the
present disclosure. These are merely examples and are not intended
to be limiting. In addition, the present disclosure may repeat
reference numerals and/or letters in the various examples. This
repetition is for the purpose of simplicity and clarity and does
not in itself dictate a relationship between the various
embodiments and/or configurations discussed. Moreover, the
formation of a first feature over or on a second feature in the
description that follows may include embodiments in which the first
and second features are formed in direct contact, and may also
include embodiments in which additional features may be formed
interposing the first and second features, such that the first and
second features may not be in direct contact.
[0015] The systems, devices, and methods described herein are
directed to the use of measurement data from a downhole MWD tool to
identify and formulate relationships between various parameters of
the drilling rig and bottom hole conditions. In an exemplary
embodiment, a relationship between differential pressure (DP) and
toolface orientation can be determined based on data taken from a
MWD tool. In other embodiments, a relationship between
weight-on-bit (WOB) and shock and vibration, a relationship between
rotations or revolutions per minute (RPM) of the drill bit and
shock and vibration, or both, are determined based on data from a
MWD tool. For example, the MWD tool can facilitate the
identification of the optimal WOB or RPM values to minimize one or
more of shock and vibration, stick-slip, or any other parameter
that indicates poor drilling performance or potential damage to the
BHA. The MWD tool can measure certain parameters, determine
relationships between them, and transmit them to the drilling rig
to provide or update a control algorithm. In certain embodiments,
critical values and/or relationships of one or more parameters are
transmitted to the drilling rig to update and/or optimize a control
system for the rig equipment. The term "and/or" as used herein
typically means one or more of the noted items, or any combination
thereof.
[0016] The systems, devices, and methods disclosed herein provide
increased control of a bottom hole assembly (BHA), resulting in
increased BHA responsiveness and faster BHA operations compared to
conventional systems that require significantly more manual input
or pauses to provide for input. The invention can advantageously
achieve this through recurring or on-going data retrieval,
processing received data, use of feedback, and optimizing
parameters.
[0017] Embodiments of the present disclosure may utilize multiple
sensors to send parameters of the drilling rig during operation. A
speed of the top drive or drill bit, such as RPM, may be fed to a
controller receiving other measurement data. The other measurement
data may include WOB data and DP data, to name some examples.
[0018] Referring to FIG. 1, illustrated is a diagram of apparatus
100 demonstrating one or more aspects of the present disclosure.
The apparatus 100 is or includes a land-based drilling rig.
However, one or more aspects of the present disclosure are
applicable or readily adaptable to any type of drilling rig, such
as jack-up rigs, semisubmersibles, drill ships, coil tubing rigs,
well service rigs adapted for drilling and/or re-entry operations,
and casing drilling rigs, among others within the scope of the
present disclosure.
[0019] Apparatus 100 includes a mast 105 supporting lifting gear
above a rig floor 110. The lifting gear includes a crown block 115
and a traveling block 120. The crown block 115 is coupled at or
near the top of the mast 105, and the traveling block 120 hangs
from the crown block 115 by a drilling line 125. One end of the
drilling line 125 extends from the lifting gear to drawworks 130,
which is configured to reel out and reel in the drilling line 125
to cause the traveling block 120 to be lowered and raised relative
to the rig floor 110. The other end of the drilling line 125, known
as a dead line anchor, is anchored to a fixed position, possibly
near the drawworks 130 or elsewhere on the rig.
[0020] A hook 135 is attached to the bottom of the traveling block
120. A top drive 140 is suspended from the hook 135. A quill 145
extending from the top drive 140 is attached to a saver sub 150,
which is attached to a drill string 155 suspended within a wellbore
160. Alternatively, the quill 145 may be attached to the drill
string 155 directly.
[0021] The term "quill" as used herein is not limited to a
component which directly extends from the top drive, or which is
otherwise conventionally referred to as a quill. For example,
within the scope of the present disclosure, the "quill" may
additionally or alternatively include a main shaft, a drive shaft,
an output shaft, or another component which transfers torque,
position, and/or rotation from the top drive or other rotary
driving element to the drill string, at least indirectly.
Nonetheless, albeit merely for the sake of clarity and conciseness,
these components may be collectively referred to herein as the
"quill."
[0022] The drill string 155 includes interconnected sections of
drill pipe 165, a BHA 170, and a drill bit 175. The BHA 170 may
include stabilizers, drill collars, or MWD or wireline conveyed
instruments, among other components, or any combination thereof.
The drill bit 175, which may also be referred to herein as a tool,
is connected to the bottom of the BHA 170 or is otherwise attached
to the drill string 155. One or more pumps 180 may deliver drilling
fluid to the drill string 155 through a hose or other conduit 185,
which may be connected to the top drive 140.
[0023] The downhole MWD or wireline conveyed instruments may be
configured for the evaluation of physical properties such as
pressure, temperature, torque, WOB, shock and vibration,
inclination, azimuth, toolface orientation in three-dimensional
space, or other downhole parameters, or any combination thereof.
These measurements may be made downhole, stored in solid-state
memory for some time, and downloaded from the instrument(s) at the
surface, or transmitted in real-time to the surface, or any
combination thereof. Data transmission methods may include, for
example, digitally encoding data and transmitting the encoded data
to the surface, possibly as pressure pulses in the drilling fluid
or mud system, acoustic transmission through the drill string 155,
electronic transmission through a wireline or wired pipe, or
transmission as electromagnetic pulses or by other techniques, or
any combination thereof. The MWD tools and/or other portions of the
BHA 170 may have the ability to store measurements for later
retrieval via wireline and/or when the BHA 170 is tripped out of
the wellbore 160.
[0024] In an exemplary embodiment, the apparatus 100 may also
include a rotating blow-out preventer (BOP) 158, such as if the
well 160 is being drilled utilizing under-balanced or
managed-pressure drilling methods. In such embodiment, the annulus
mud and cuttings may be pressurized at the surface, with the actual
desired flow and pressure possibly being controlled by a choke
system, and the fluid and pressure being retained at the well head
and directed down the flow line to the choke by the rotating BOP
158. The apparatus 100 may also include a surface casing annular
pressure sensor 159 configured to detect the pressure in the
annulus defined between, for example, the wellbore 160 (or casing
therein) and the drill string 155.
[0025] In the exemplary embodiment depicted in FIG. 1, the top
drive 140 is utilized to impart rotary motion to the drill string
155. However, aspects of the present disclosure are also applicable
or readily adaptable to implementations utilizing other drive
systems, such as a power swivel, a rotary table, a coiled tubing
unit, a downhole motor, or a conventional rotary rig, among others,
or any combination thereof.
[0026] The apparatus 100 also includes controllers 190a and 190b
configured to control or assist in the control of one or more
components of the apparatus 100. For example, one or more of the
controllers 190a or 190b may be configured to transmit operational
control signals to the drawworks 130, the top drive 140, the BHA
170 or the pump 180, or any combination thereof. The controller
190a may be a stand-alone component installed near the mast 105
and/or other components of the apparatus 100 while the controller
190b may be located on the BHA 170. In an exemplary embodiment, the
controller 190a includes one or more systems located in a control
room proximate the apparatus 100, such as the general purpose
shelter often referred to as the "doghouse" serving as a
combination tool shed, office, communications center, and general
meeting place. Other embodiments may locate the controller 190a in
other locations (e.g., off-site) and/or controller 190a may be
configured to receive inputs from operators located nearby the
controller 190a and/or remote from the controller 190a. For the
purposes of this disclosure, reference may be made to a controller
190. Such a controller 190 may include one or both of controllers
190a and 190b. Such a controller 190 may be configured to transmit
the operational control signals to the drawworks 130, the top drive
140, the BHA 170, or the pump 180, or any combination thereof, via
wired or wireless transmission means which, for the sake of
clarity, are not depicted in FIG. 1.
[0027] The controllers 190a or 190b, or both, are also configured
to receive electronic signals via wired or wireless transmission
means (also not shown in FIG. 1) from a variety of sensors included
in the apparatus 100, where each sensor is configured to detect an
operational characteristic or parameter. The apparatus 100 may
include an internal pipe pressure sensor 170a coupled to or
otherwise associated with the BHA 170. The internal pipe pressure
sensor 170a may be located above the mud motor and one or more
sensors may obtain an annulus measurement also above the mud motor.
Such measurements may be used to detect a pressure value or range
in the annulus-shaped region defined between the external surface
of the BHA 170 and the internal diameter of the wellbore 160, which
may also be referred to as the casing pressure, downhole casing
pressure, MWD casing pressure, or downhole annular pressure. These
measurements may include both static annular pressure (pumps off)
and active annular pressure (pumps on). The differential pressure
may be calculated from such readings by, for example, assuming the
pressure drop from the bit and annulus will be small and consistent
compared with the changes in pressure drop related to mud motor
loading. In certain other embodiments, internal pipe measurements
directly above and below the mud motor may be received to determine
differential pressure.
[0028] It is noted that the meaning of the word "detecting," in the
context of the present disclosure, may include detecting, sensing,
measuring, calculating, or any combination thereof, or otherwise
obtaining data. Similarly, the meaning of the word "detect" in the
context of the present disclosure may include detect, sense,
measure, calculate, or any combination thereof, or otherwise obtain
data.
[0029] The apparatus 100 may additionally or alternatively include
a shock/vibration sensor 170b that is configured for detecting
shock, vibration, or both, in the BHA 170. The apparatus 100
includes a mud motor delta pressure (.DELTA.P) sensor 172a that is
configured to detect a pressure differential value or range across
one or more motors 172 of the BHA 170. The one or more motors 172
may each be or include a positive displacement drilling motor that
uses hydraulic power of the drilling fluid to drive the bit 175,
also known as a mud motor. One or more torque sensors 172b may also
be included in the BHA 170 for sending data to the controllers 190a
or 190b, or both, that is indicative of the torque applied to the
bit 175 by the one or more motors 172. One or more speed sensors
172c configured to detect a value or range of the rotational speed
of the bit 175 may also be included in the BHA 170.
[0030] The apparatus 100 may additionally or alternatively include
a toolface sensor 170c configured to detect the current toolface
orientation. The toolface sensor 170c may be or include a
conventional or future-developed magnetic toolface sensor which
detects toolface orientation relative to magnetic north or true
north. Alternatively, or additionally, the toolface sensor 170c may
be or include a conventional or future-developed gravity toolface
sensor which detects toolface orientation relative to the Earth's
gravitational field. The toolface sensor 170c may also, or
alternatively, be or include a conventional or future-developed
gyro sensor. The apparatus 100 may additionally or alternatively
include a WOB sensor 170d integral to the BHA 170 and configured to
detect WOB at or near the BHA 170.
[0031] The apparatus 100 may additionally or alternatively include
a torque sensor 140a coupled to or otherwise associated with the
top drive 140. The torque sensor 140a may alternatively be located
in or associated with the BHA 170. The torque sensor 140a may be
configured to detect a value or range of the torsion of the quill
145 and/or the drill string 155 (e.g., in response to operational
forces acting on the drill string). The top drive 140 may
additionally or alternatively include or otherwise be associated
with a speed sensor 140b configured to detect a value or range of
the rotational speed of the quill 145.
[0032] The top drive 140, drawworks 130, crown or traveling block,
drilling line or dead line anchor may additionally or alternatively
include or otherwise be associated with a WOB sensor 140c (WOB
calculated from a hook load sensor that can be based on active and
static hook load) (e.g., one or more sensors installed somewhere in
the load path mechanisms to detect and calculate WOB, which can
vary from rig-to-rig) different from the WOB sensor 170d. The WOB
sensor 140c may be configured to detect a WOB value or range, where
such detection may be performed at the top drive 140, drawworks
130, or other component of the apparatus 100.
[0033] The detection performed by the sensors described herein may
be performed once, continuously, periodically, and/or at random
intervals. Such detection may be performed by, for example, one or
more sensors of the BHA 170 and the output from the sensors may be
used to calculate relationships between the toolface and the
differential pressure. The detection may be manually triggered by
an operator or other person accessing a human-machine interface
(HMI), or automatically triggered by, for example, a triggering
characteristic or parameter satisfying a predetermined condition
(e.g., expiration of a time period, drilling progress reaching a
predetermined depth, drill bit usage reaching a predetermined
amount, etc.). Such sensors and/or other detection means may
include one or more interfaces which may be local at the well/rig
site or located at another, remote location with a network link to
the system.
[0034] Referring now to FIG. 2, illustrated is a block diagram of
an apparatus 200 according to one or more aspects of the present
disclosure. The apparatus 200 includes a user interface 205, a BHA
210, a drive system 215, a drawworks 220, and a controller 225. The
apparatus 200 may be implemented within the environment and/or
apparatus shown in FIG. 1. For example, the BHA 210 may be
substantially similar to the BHA 170 shown in FIG. 1, the drive
system 215 may be substantially similar to the top drive 140 shown
in FIG. 1, the drawworks 220 may be substantially similar to the
drawworks 130 shown in FIG. 1, and/or the controller 225 may be
substantially similar to the controller 190 shown in FIG. 1. The
apparatus 200 may also be utilized in performing the method 300
shown in FIG. 3, among other methods described herein or otherwise
within the scope of the present disclosure.
[0035] The user-interface 205 and the controller 225 may be
discrete components that are interconnected via wired or wireless
means. Alternatively, the user-interface 205 and the controller 225
may be integral components of a single system or controller 227, as
indicated by the dashed lines in FIG. 2.
[0036] The user-interface 205 includes means 230 for user-input of
one or more toolface set points, and may also include means for
user-input of other set points, limits, and other input data. The
data input means 230 may include a keypad, voice-recognition
apparatus, dial, button, switch, slide selector, toggle, joystick,
mouse, data base and/or other conventional or future-developed data
input device. Such data input means may support data input from
local and/or remote locations. Alternatively, or additionally, the
data input means 230 may include means for user-selection of
predetermined toolface set point values or ranges, such as via one
or more drop-down menus. The toolface set point data may also or
alternatively be selected by the controller 225 via the execution
of one or more database look-up procedures. In general, the data
input means 230 and/or other components within the scope of the
present disclosure support operation and/or monitoring from
stations on the rig site as well as one or more remote locations
with a communications link to the system, network, local area
network (LAN), wide area network (WAN), Internet, satellite-link,
and/or radio, among other means.
[0037] The user-interface 205 may also include a display 235 for
visually presenting information to the user in textual, graphic, or
video form. The display 235 may also be utilized by the user to
input the toolface set point data in conjunction with the data
input means 230. For example, the toolface set point data input
means 230 may be integral to or otherwise communicably coupled with
the display 235.
[0038] The BHA 210 may include a MWD casing pressure sensor 240a
that is configured to detect an annular pressure value or range at
or near the MWD portion of the BHA 210, and that may be
substantially similar to the pressure sensor 170a shown in FIG. 1.
Additionally, BHA 210 may include a bore pressure sensor 240b that
is configured to detect a pressure value of the bore. The casing
pressure data detected via the MWD casing pressure sensor 240a the
bore pressure sensor 240b may be sent via electronic signal to the
controller 225 via wired or wireless transmission via techniques as
described herein.
[0039] The BHA 210 may also include a MWD shock/vibration sensor
245 that is configured to detect shock and/or vibration in the MWD
portion of the BHA 210, and that may be substantially similar to
the shock/vibration sensor 170b shown in FIG. 1. The
shock/vibration data detected via the MWD shock/vibration sensor
245 may be sent via electronic signal to the controller 225 via
wired or wireless transmission.
[0040] The BHA 210 may also include a mud motor .DELTA.P sensor 250
that is configured to detect a pressure differential value or range
across the mud motor of the BHA 210, and that may be substantially
similar to the mud motor .DELTA.P sensor 172a shown in FIG. 1. The
pressure differential data detected via the mud motor .DELTA.P
sensor 350 may be sent via electronic signal to the controller 225
via wired or wireless transmission. The mud motor .DELTA.P may be
alternatively or additionally calculated, detected, or otherwise
determined at the surface, such as by calculating the difference
between the surface standpipe pressure just off-bottom and pressure
once the bit touches bottom and starts drilling and experiencing
torque.
[0041] The BHA 210 may also include a magnetic toolface sensor 255
and a gravity toolface sensor 260 that are cooperatively configured
to detect the current toolface, and that collectively may be
substantially similar to the toolface sensor 170c shown in FIG. 1.
The magnetic toolface sensor 255 may be or include a conventional
or future-developed magnetic toolface sensor which detects toolface
orientation relative to magnetic north or true north. The gravity
toolface sensor 260 may be or include a conventional or
future-developed gravity toolface sensor which detects toolface
orientation relative to the Earth's gravitational field. In an
exemplary embodiment, the magnetic toolface sensor 255 may detect
the current toolface when the end of the wellbore is less than
about 7.degree. from vertical, and the gravity toolface sensor 260
may detect the current toolface when the end of the wellbore is
greater than about 7.degree. from vertical. However, other toolface
sensors may also be utilized within the scope of the present
disclosure, including non-magnetic toolface sensors and
non-gravitational inclination sensors. In any case, the toolface
orientation detected via the one or more toolface sensors (e.g.,
sensors 255 and/or 260) may be sent via electronic signal to the
controller 225 via wired or wireless transmission.
[0042] The BHA 210 may also include a MWD torque sensor 265 that is
configured to detect a value or range of values for torque applied
to the bit by the motor(s) of the BHA 210, and that may be
substantially similar to the torque sensor 172b shown in FIG. 1.
The torque data detected via the MWD torque sensor 265 may be sent
via electronic signal to the controller 225 via wired or wireless
transmission.
[0043] The BHA 210 may also include an MWD WOB sensor 270 that is
configured to detect a value or range of values for WOB at or near
the BHA 210, and that may be substantially similar to the WOB
sensor 170d shown in FIG. 1. The WOB data detected via the MWD WOB
sensor 270 may be sent via electronic signal to the controller 225
via wired or wireless transmission.
[0044] The BHA 210 may also include a speed sensor 273 that is
configured to detect configured to detect a value or range of the
rotational speed of a drill bit (e.g., drill bit 170), and that may
be substantially similar to the speed sensor 172c shown in FIG. 1.
The rotational speed data detected by the speed sensor may be sent
via electronic signal to the controller 225 via wired or wireless
transmission.
[0045] The drawworks 220 includes a controller 290 and/or other
means for controlling feed-out and/or feed-in of a drilling line
(such as the drilling line 125 shown in FIG. 1). Such control may
include rotational control of the drawworks (in vs. out) to control
the height or position of the hook, and may also include control of
the rate the hook ascends or descends. However, exemplary
embodiments within the scope of the present disclosure include
those in which the drawworks drill string feed off system may
alternatively be a hydraulic ram or rack and pinion type hoisting
system rig, where the movement of the drill string up and down is
via something other than a drawworks. The drill string may also
take the form of coiled tubing, in which case the movement of the
drill string in and out of the hole is controlled by an injector
head which grips and pushes/pulls the tubing in/out of the hole.
Nonetheless, such embodiments may still include a version of the
controller 290, and the controller 290 may still be configured to
control feed-out and/or feed-in of the drill string.
[0046] The drive system 215 includes a surface torque sensor 275
that is configured to detect a value or range of the reactive
torsion of the quill or drill string, much the same as the torque
sensor 140a shown in FIG. 1. The drive system 215 also includes a
quill position sensor 280 that is configured to detect a value or
range of the rotational position of the quill, such as relative to
true north or another stationary reference. The surface torsion and
quill position data detected via sensors 275 and 280, respectively,
may be sent via electronic signal to the controller 225 via wired
or wireless transmission. The drive system 215 also includes a
controller 285 and/or other means for controlling the rotational
position, speed and direction of the quill or other drill string
component coupled to the drive system 215 (such as the quill 145
shown in FIG. 1).
[0047] In an exemplary embodiment, the drive system 215, controller
285, and/or other component of the apparatus 200 may include means
for accounting for friction between the drill string and the
wellbore. For example, such friction accounting means may be
configured to detect the occurrence and/or severity of the
friction, which may then be subtracted from the actual "reactive"
torque, perhaps by the controller 285 and/or another control
component of the apparatus 200.
[0048] The controller 225 is configured to receive one or more of
the above-described parameters from the user interface 205, the BHA
210, and/or the drive system 215 and drawworks 220, and utilize
such parameters to continuously, periodically, or otherwise
determine the current toolface orientation. The controller 225 may
be further configured to generate a control signal, such as via
intelligent adaptive control, and provide the control signal to the
drive system 215 and/or the drawworks 220 to adjust, optimize,
and/or maintain the toolface orientation. For example, the
controller 225 may execute the method 300 shown in FIG. 3 to
provide one or more signals to the drive system 215 and/or the
drawworks 220 to increase or decrease WOB and/or quill position,
such as may be required to accurately "steer" the drilling
operation. In another example, the controller 225 may execute the
method 300 to provide or update one or more algorithms used to
control toolface orientation.
[0049] Moreover, as in the exemplary embodiment depicted in FIG. 2,
the controller 285 of the drive system 215 and/or the controller
290 of the drawworks 220 may be configured to generate and transmit
a signal to the controller 225. Consequently, the controller 285 of
the drive system 215 may be configured to influence the control of
the BHA 210 and/or the drawworks 220 to assist in obtaining and/or
maintaining a desired toolface orientation and/or minimizing shock
and vibration. Similarly, the controller 290 of the drawworks 220
may be configured to influence the control of the BHA 210 and/or
the drive system 215 to assist in obtaining and/or maintaining a
desired toolface orientation and/or minimizing shock and vibration.
Alternatively, or additionally, the controller 285 of the drive
system 215 and the controller 290 of the drawworks 220 may be
configured to communicate directly, such as indicated by the
dual-directional arrow 292 depicted in FIG. 2. Consequently, the
controller 285 of the drive system 215 and the controller 290 of
the drawworks 220 may be configured to cooperate in obtaining
and/or maintaining a desired toolface orientation and/or minimizing
shock and vibration. Such cooperation may be independent of control
provided to or from the controller 225 and/or the BHA 210.
[0050] In an exemplary embodiment, the controller 225 receives DP
data from one or both of the mud motor pressure sensor 250 and a
pump pressure sensor or gauge (not shown) (or may be determined at
the surface by the calculations mentioned above with respect to the
mud motor pressure sensor 250) and determines a relationship of the
DP data to the toolface. As another alternative, measurement data
from a mud pump 180 (illustrated in FIG. 1) may be provided for the
DP data (whether directly or derived therefrom). The DP data may be
useful, for example, in determining WOB while the drilling rig
apparatus 100 is engaged in directional drilling. In certain
embodiments, the controller 225 and/or a portion thereof may be
located on the BHA 210.
[0051] FIG. 3 is a flow chart showing an exemplary method 300 for
directional drilling according to aspects of the present
disclosure. The method 300 may be performed, for example, with
respect to any of the controllers and the apparatus 100 components
discussed above with respect to FIGS. 1 and 2. In certain exemplary
embodiments, the method 300 may be partially or fully performed by
one or more controllers located on the BHA 170, such as the
controller 190b. It is understood that additional steps can be
provided before, during, and after the steps of method 300.
[0052] At block 302, drilling operations (whether vertical or some
form of directional drilling) commence at the apparatus 100
described in FIG. 1. For example, the drilling operations may
commence according to predetermined or input commands pertaining to
speed of operation/a desired rate of penetration.
[0053] At block 304, DP data and toolface orientation data is
received by controller 190b for a specific time or for an interval
of time (e.g., every 10-30 minutes). For example, DP data may be
obtained by the mud motor .DELTA.P sensor 172a of the BHA 170 and
provided to the controller 190b for further processing, and
toolface orientation data (e.g., gravity-based toolface orientation
data and/or magnetic-based toolface orientation data) may be
obtained from toolface sensor 170c and provided to controller 190b
for further processing. Alternatively, the DP may be calculated,
detected, or otherwise determined at the surface, such as by
calculating the difference between the surface standpipe pressure
just off-bottom and pressure once the bit touches bottom and starts
drilling and experiencing torque. At least two data points (each
data point including a value of DP and the corresponding toolface
orientation) is obtained. In several embodiments, DP data and
toolface orientation data is received on a continuous, on-going, or
recurring basis.
[0054] At block 306, a functional relationship between DP and
toolface orientation for the specific time or for the interval of
time is determined by controller 190b. DP may be proportional to or
otherwise related to toolface orientation.
[0055] In an exemplary embodiment, the data points obtained in
block 304 are fitted to a curve. For example, the two data points
may be fitted to a curve to determine the relationship. In some
embodiments, multiple data points are obtained and fitted to a
curve. In various embodiments, the DP and/or toolface orientation
values are averaged over a certain period or certain interval of
time. Each value of toolface orientation can be plotted against its
corresponding DP value to generate a curve (linear, polynomial,
multipoint, best-fit, etc.). The plotted points illustrate a
relationship between the DP and toolface orientation for that
specific time or specific interval of time. In one embodiment, the
relationship can be expressed in an equation or as a mathematical
function through, for example, one or more linear, polynomial or
logarithmic equations.
[0056] In certain embodiments, the functional relationship
determined in block 306 may be communicated to a surface controller
such as controller 190a. After determining the functional
relationship, the relationship may be communicated to the surface
controller via, for example, telemetry. Additionally, in certain
embodiments, the downhole system compares the currently determined
relationship to one or more previously communicated relationships.
In certain such embodiments, a newly determined relationship may
not be communicated if the relationship is substantially similar to
the previously communicated relationship. During and/or after
communicating the functional relationship to the controller 190a,
the other steps of method 300 may continue to be performed.
[0057] Certain other embodiments may determine functional
relationships between one or more other parameters, and data
directed to one or more such other parameters may be
correspondingly received in block 304. For example, such
embodiments may determine functional relationships between measured
weight-on-bit (WOB) and measured shock and vibration of a drill
bit, measured rotations per minute (RPM) of a drill bit and
measured shock and vibration, measured WOB and measured rate of
penetration (ROP), and/or other such relationships.
[0058] At block 308, once the relationship between DP and toolface
orientation is known, a current DP is measured to estimate a
toolface change. In certain embodiments, the current DP may be a
surface DP. In an embodiment, the controller 190 takes the current
DP value and estimates the value of the current toolface
orientation based on the previously acquired or measured data
points and the functional relationship between DP and toolface
orientation. For example, the value of the current DP can be input
into the previously obtained equation (e.g., the relationship
determined in block 306) to output current toolface orientation.
Certain additional embodiments may determine further downhole
parameters from the relationship and the current DP and/or one or
more other surface parameters.
[0059] At block 310, the value of the estimated current toolface
orientation is used to adjust the toolface. The toolface can be
adjusted at the surface using the top drive 140, the drawworks 130,
and/or the quill 145. For example, the position of the quill 145
may be adjusted based on the last known toolface and the estimated
toolface change. In various embodiments, the controller 190
automatically adjusts the toolface, and in other embodiments, the
controller 190 instructs the directional driller to adjust the
toolface. In yet other embodiments, the top drive 140 automatically
adjusts the current toolface orientation to a desired toolface
orientation on a recurring basis. For example, the top drive 140
may adjust the current toolface orientation periodically, such as,
as a non-limiting example, after a time period of from about 0.01
seconds to about 5 minutes. In varying embodiments, the adjustment
may occur after about 0.1 seconds to about 1 minute, or about 1
second to about 30 seconds. In other embodiments, the adjustment
may occur after about 0.05 seconds to about 10 seconds, or after
about 0.1 seconds, after about 0.5 seconds, after about 1 second,
after about 2 seconds, after about 5 seconds, or any range
including the above-noted time delays.) The value that the toolface
was adjusted (e.g., the change in position of the quill 145
commanded in block 310) may be used, along with, for example, the
actual toolface position determined in block 312, to determine
and/or further refine the functional relationship between DP and
toolface orientation in block 306 and 308.
[0060] In other embodiments that determine functional relationships
between one or more other parameters, data directed to one or more
such other parameters may be measured in block 308. For example,
such embodiments may measure WOB, RPM of the drill bit, and/or
other such measurements. The top drive 140, the drawworks 130,
and/or the quill 145 may then be adjusted in block 310 responsive
to such measurements.
[0061] At block 312, data indicating an actual toolface position
may be received from one or more sensors coupled to the BHA 170 by
the controller 190. The data indicating the actual toolface
position may be used to estimate the toolface change in block 308
and/or used to further refine the functional relationship between
DP and toolface orientation determined in block 306. Certain other
embodiments may, alternatively or additionally, also receive data
direction to other parameters, such as shock and vibration.
[0062] Any combination of blocks 304-312 may be repeated any number
of times so that the most current relationship between DP and
toolface orientation is used to control the toolface. In certain
embodiments, blocks 308, 310, and/or 312 may be repeated
continuously using the most up to date functional relationship
determined in block 306. Additionally, blocks 304 and 306 may be
performed after the occurrence of a trigger condition such as a
time duration and/or other trigger condition. In several
embodiments, the relationship between DP and toolface orientation
calculated in block 306 may be updated every couple of minutes
(e.g., 10 minutes). As such, the measurements, functional
relationships, and/or other parameters may be determined or
performed periodically and for a certain interval of time.
Additional techniques for directional drilling using the systems,
devices, and methods described herein are disclosed in co-pending
U.S. patent application Ser. No. 15/478,265, filed Apr. 4, 2017,
which is hereby incorporated herein in its entirety by express
reference thereto.
[0063] Advantageously, the control system for toolface control can
be optimized using recent, measured data and continually refined
instead of relying on the intuition of an experienced directional
driller. This allows for more accurate toolface control. In
addition to improved, automated control, this feedback can allow
the directional driller to refine his estimation and improve his
performance while manually controlling the toolface. This type of
benefit can apply to other types of control as well where downhole
data can measure or provide optimized parameters for rig equipment
control systems.
[0064] In some embodiments, the relationship between WOB and shock
and vibration and/or the relationship between RPM of the bit and
shock and vibration is determined in a similar fashion as described
in FIG. 3. Generally, the drill string undergoes various types of
vibration during drilling, including axial (longitudinal)
vibrations, bending (lateral) vibrations, and torsional
(rotational) vibrations. The torsional vibrations are caused by
nonlinear interaction between the bit, the drill string, and the
wellbore. This torsional vibration can include stick-slip
vibration, characterized by alternating stops (during which the BHA
"sticks" to the wellbore) and intervals of large angular velocity
of the BHA (during which the BHA "slips" relative to the
wellbore).
[0065] Shock and vibration, WOB, and RPM measurements allow
drillers to properly identify conditions and correct unwanted
dynamics that lead to BHA failure and hole damage, thus minimizing
the cost of the well significantly through decreased drilling time
by reducing BHA trips, increasing the drilling rate of penetration
(ROP), and improved overall well conditions. Adjustment of drilling
parameters based upon real-time monitoring of the dynamic loads in
the drilling BHA are desirable to help achieve the objective of
wellbore completion in the shortest possible time.
[0066] Generally, optimal drilling is obtained when the ROP of the
drill bit into the formation is as high as possible while the
vibration is as low as possible. Typically, reducing the WOB or
reducing the rotary speed of the drill bit reduces vibration.
Similarly, reducing WOB generally mitigates stick-slip. Increasing
RPM generally helps to keep drill string / bit friction in the
dynamic range and helps overcome the formation friction factor to
minimize stick-slip. These relationships can change, however, based
on a number of other factors. Running high RPM with low WOB can put
the drill bit and/or BHA in forward whirl vibration. Forward and
backward whirl can increase the shock load(s) on drilling bit, BHA,
and MWD equipment, thus prematurely damaging them. Keeping a
suitable RPM vs. WOB relation in an ordinary operating range as
determinable by those of ordinary skill in the art should minimize
or entirely prevent such damaging vibrations.
[0067] Accordingly, in various embodiments, the shock and vibration
and WOB are measured for a specific time or for an interval of
time. For example, the shock/vibration sensor 170b may provide
shock and/or vibration data to controller 190b and the WOB sensor
140c or the WOB sensor 170d may provide WOB data to controller
190b. Based on this data, the controller 190b determines a
relationship between WOB and shock and vibration for the specific
time or for the interval of time. In certain embodiments, the
controller 190b formulates an algorithm or mathematical equation to
describe this relationship. In other words, the controller 190b
tries to map an input (WOB) to an output (shock and vibration).
Once the algorithm is formulated, the controller 190b can use the
algorithm to adjust WOB to minimize shock and vibration and/or
stick-slip.
[0068] In some embodiments, the shock and vibration and RPM of the
bit are measured for a specific time or for an interval of time.
For example, the shock/vibration sensor 170b may provide shock
and/or vibration data to controller 190 and speed sensor 172c may
provide rotary speed data to controller 190. The controller 190 can
then use this data to determine the relationship between RPM and
shock and vibration, and formulate an algorithm that describes the
relationship for that moment in time or interval of time. The
algorithm can then be used to adjust the RPM to minimize shock and
vibration and/or stick-slip.
[0069] In exemplary embodiments, the MWD tool is programmed with an
algorithm to track the desired conditions (e.g., DP, WOB, RPM,
and/or shock and vibration) in the measured data. The MWD tool is
also preferably configured in a way that the telemetry can transmit
updated parameters either periodically or under a specific
condition (such as once per connection, once per new observation,
parameters changed by more than a certain amount to last
transmitted values, etc.). The rig control system can then be
updated either by user entry or by updating the toolface control
software to automatically accept the values from the downhole
telemetry channel.
[0070] Referring now to FIG. 4, illustrated is an exemplary system
400 for implementing one or more embodiments of at least portions
of the devices and/or methods described herein. The system 400
includes a processor 402, an input device 404, a storage device
406, a video controller 408, a system memory 410, a display 414,
and a communication device 416, all interconnected by one or more
buses 412. The storage device 406 may be a floppy drive, hard
drive, CD, DVD, optical drive, or any other form of storage device.
In addition, the storage device 406 may be capable of receiving a
floppy disk, CD, DVD, or any other form of computer-readable medium
that may contain computer-executable instructions. Communication
device 416 may be a modem, network card, wireless router, or any
other device to enable the system 400 to communicate with other
systems.
[0071] A computer system typically includes at least hardware
capable of executing machine readable instructions, as well as
software for executing acts (typically machine-readable
instructions) that produce a desired result. In addition, a
computer system may include hybrids of hardware and software, as
well as computer sub-systems.
[0072] Hardware generally includes at least processor-capable
platforms, such as client-machines (also known as personal
computers or servers), and hand-held processing devices (such as
smart phones, PDAs, and personal computing devices (PCDs), for
example). Furthermore, hardware typically includes any physical
device that is capable of storing machine-readable instructions,
such as memory or other data storage devices. Other forms of
hardware include hardware sub-systems, including transfer devices
such as modems, modem cards, ports, and port cards, for example.
Hardware may also include, at least within the scope of the present
disclosure, multi-modal technology, such as those devices and/or
systems configured to allow users to utilize multiple forms of
input and output--including voice, keypads, and
stylus--interchangeably in the same interaction, application, or
interface.
[0073] Software may include any machine code stored in any memory
medium, such as RAM or ROM, machine code stored on other devices
(such as floppy disks, CDs or DVDs, for example), and may include
executable code, an operating system, as well as source or object
code, for example. In addition, software may encompass any set of
instructions capable of being executed in a client machine or
server--and, in this form, is often called a program or executable
code.
[0074] Hybrids (combinations of software and hardware) are becoming
more common as devices for providing enhanced functionality and
performance to computer systems. A hybrid may be created when what
are traditionally software functions are directly manufactured into
a silicon chip--this is possible since software may be assembled
and compiled into ones and zeros, and, similarly, ones and zeros
can be represented directly in silicon. Typically, the hybrid
(manufactured hardware) functions are designed to operate
seamlessly with software. Accordingly, it should be understood that
hybrids and other combinations of hardware and software are also
included within the definition of a computer system herein, and are
thus envisioned by the present disclosure as possible equivalent
structures and equivalent methods.
[0075] Computer-readable mediums may include passive data storage
such as a random access memory (RAM), as well as semi-permanent
data storage such as a compact disk or DVD. In addition, an
embodiment of the present disclosure may be embodied in the RAM of
a computer and effectively transform a standard computer into a new
specific computing machine.
[0076] Data structures are defined organizations of data that may
enable an embodiment of the present disclosure. For example, a data
structure may provide an organization of data or an organization of
executable code (executable software). Furthermore, data signals
are carried across transmission mediums and store and transport
various data structures, and, thus, may be used to transport an
embodiment of the invention. It should be noted in the discussion
herein that acts with like names may be performed in like manners,
unless otherwise stated.
[0077] The controllers and/or systems of the present disclosure may
be designed to work on any specific architecture. For example, the
controllers and/or systems may be executed on one or more
computers, Ethernet networks, local area networks, wide area
networks, internets, intranets, hand-held and other portable and
wireless devices and networks.
[0078] In view of all of the above and the figures, one of ordinary
skill in the art will readily recognize that the present disclosure
relates to systems and methods for directional drilling. In one
aspect, the present disclosure is directed to a system including a
bottom hole assembly (BHA) controller and a surface controller. The
BHA controller is associated with one or more downhole sensors and
is configured to receive data from the one or more downhole
sensors, determine a relationship from the data from the one or
more downhole sensors, and communicate the relationship to a
surface controller. The surface controller is configured to receive
the relationship communicated from the BHA controller, receive data
from one or more surface sensors, and provide control signals to a
drilling system responsive to the relationship and the data
received from the one or more surface sensors.
[0079] In a second aspect, the present disclosure is directed to a
method of directional drilling that includes receiving, by a bottom
hole assembly (BHA) controller, data from the one or more downhole
sensors, determining, by the BHA controller, a relationship from
the data from the one or more downhole sensors, communicating, by
the BHA controller, the relationship to a surface controller,
receiving, by the surface controller, the relationship communicated
from the BHA controller, receiving, by the surface controller, data
from one or more surface sensors; and providing, by the surface
controller, control signals to a drilling system responsive to the
relationship and the data received from the one or more surface
sensors.
[0080] In a third aspect, the present disclosure is directed to a
non-transitory machine-readable medium having stored thereon
machine-readable instructions executable to cause a machine to
perform certain operations. The operations include receiving data
from the one or more downhole sensors, determining a relationship
from the data from the one or more downhole sensors, and
communicating the relationship to a surface controller such that
the surface controller can determine control signals to a drilling
system responsive to the relationship and the data received from
one or more surface sensors
[0081] The foregoing outlines features of several embodiments so
that a person of ordinary skill in the art may better understand
the aspects of the present disclosure. Such features may be
replaced by any one of numerous equivalent alternatives, only some
of which are disclosed herein. One of ordinary skill in the art
should appreciate that they may readily use the present disclosure
as a basis for designing or modifying other processes and
structures for carrying out the same purposes and/or achieving the
same advantages of the embodiments introduced herein. One of
ordinary skill in the art should also realize that such equivalent
constructions do not depart from the spirit and scope of the
present disclosure, and that they may make various changes,
substitutions and alterations herein without departing from the
spirit and scope of the present disclosure.
[0082] The Abstract at the end of this disclosure is provided to
comply with 37 C.F.R. .sctn. 1.72(b) to allow the reader to quickly
ascertain the nature of the technical disclosure. It is submitted
with the understanding that it will not be used to interpret or
limit the scope or meaning of the claims.
[0083] Moreover, it is the express intention of the applicant not
to invoke 35 U.S.C. .sctn. 112(f) for any limitations of any of the
claims herein, except for those in which the claim expressly uses
the word "means" together with an associated function.
* * * * *